仿蜜蜂腹部变体机构设计及运动分析

尹丹妮; 谷勇霞; 张玉玲

doi:10.13433/j.cnki.1003-8728.20220034

仿蜜蜂腹部变体机构设计及运动分析

doi: 10.13433/j.cnki.1003-8728.20220034

1.
北京工商大学人工智能学院，北京100048
2.
清华大学摩擦学国家重点实验室，北京100084

基金项目: 国家自然科学基金项目（51475258, 51805293）与北京市自然科学基金项目（3184050）

详细信息

作者简介:
尹丹妮（1997−），硕士研究生，研究方向为仿生机构设计，yindn97@foxmail.com

通讯作者:
谷勇霞，副教授，硕士生导师，guyx@th.btbu.edu.cn

中图分类号: TH122
计量
- 文章访问数: 112
- HTML全文浏览量: 62
- PDF下载量: 33
- 被引次数: 0
出版历程
- 收稿日期: 2021-05-27
- 网络出版日期: 2023-09-13
- 刊出日期: 2023-08-31

Designing Honeybee Abdomen's Morphing Mechanism and Its Kinematic Analysis

1.
School of Artificial Intelligence, Beijing Technology and Business University, Beijing 100048 , China
2.
State Key Laboratory of Tribology, Tsinghua University, Beijing, 100084, China

摘要

摘要: 受蜜蜂腹部变形机制的启发，设计一种能够实现伸缩和弯曲的仿生变体头锥机构，该机构采用三组RSH/RRR支链并联机构形式。通过旋量理论计算变体机构的自由度，结果表明该机构的运动自由度满足变体头锥的变形要求，可作为变体头锥的变形展开骨架。然后对变体机构的动态性能进行了仿真分析，结果表明变体机构的变形量满足设计要求，受力情况下仍能保持较稳定的运动状态，变体头锥机构动态性能良好。该变体机构可以提高头锥的灵活性和适应性，同时，该机构的自锁特性和并联分布方式增强了头锥变形的稳定性。
- 仿生变体机构 /
- 并联机构 /
- 变体头锥 /
- 动态性能
Abstract: Inspired by the deformation mechanism of honeybee abdomen, this paper designed a bionic morphing mechanism that can achieve expansion and bending. The morphing mechanism adopted three groups of RSH/RRR branch chains in parallel. The screw theory was used to calculate the degree of freedom of the morphing mechanism. The results show that the kinematic degree of freedom of the morphing mechanism meets the deformation requirements of the morphing nose cone and can be used as its deformation expanding skeleton. Then the dynamic performance of the variant mechanism was simulated and analyzed. The results show that the deformation of the variant mechanism can meet the design requirements and that it can still maintain a relatively stable motion state under load condition. The dynamic performance of the morphing nose cone is good. The variant mechanism can improve the flexibility and adaptability of the morphing nose cone. Meanwhile, the self-locking characteristic and the parallel distribution of three groups of branch chains of the morphing mechanism enhance the stability of the morphing nose cone.
- bionic morphing mechanism /
- parallel mechanism /
- morphing nose cone /
- dynamic propert

HTML全文

图 1 变体机构一组支链简图

Figure 1. Variant mechanism a set of branched chain diagrams

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图 2 整体变体头锥机构模型

Figure 2. Overall variant head-cone mechanism model

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图 3 变体头锥机构3种状态

Figure 3. Variant head-cone mechanism three states

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图 4 螺杆驱动速度

Figure 4. Screw drive speed

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图 5 环3位置变化

Figure 5. Change in position of ring 3

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图 6 环3加速度变化

Figure 6. Change in acceleration in ring 3

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图 7 无驱动力矩情况下环3位置变化

Figure 7. Position change of ring 3 without driving torque

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图 8 空载情况下驱动螺杆力矩

Figure 8. Driving screw torque under no-load condition

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图 9 负载情况下驱动螺杆力矩

Figure 9. Driving screw torque under load condition

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表 1 头锥各节外壳尺寸参数

Table 1. Shell dimensions of each section of the head cone

参数环1 环2 环3

最大直径/mm 434 420 334
长度/mm 200 200 200
厚度/mm 10 10 10

下载: 导出CSV

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